A novel motion planning algorithm with adaptive dynamic collision detection for industrial robots

A PRM (probabilistic roadmaps) based novel motion planning algorithm was proposed for industrial robots. It could significantly reduce computational efforts by carrying out robot path calculation in both Cartesian space and configuration space. This algorithm was embedded with a fast space partition method to improve sampling efficiency. Since both the robot and obstacles were modeled as cuboids, the static collision detection was formulated as a convex optimization problem. By applying the adaptive dynamic collision detection method, the motion planning problem was solved efficiently and completely without loss of computation precision.